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Employee Benefit Plans
 6 Months Ended
Jun. 30, 2021
Defined Benefit Plans and Other Postretirement Benefit Plans Disclosures [Abstract]  
Employee Benefit Plans
15. Employee Benefit Plans

Retirement Plans

The Company sponsors qualified defined benefit pension plans covering certain employees of the Company and its subsidiaries, although the U.S. qualified and non-qualified defined benefit plans are closed to new entrants. The plans’ benefits are generally based on years of service and employee compensation. The Company also provides to certain management employees, through non-qualified plans, supplemental retirement benefits in excess of qualified plan limits imposed by federal tax law.

The tables below set forth the components of the Company’s net periodic expense (income) relating to retirement benefit plans. The service cost component is recognized within selling, general and administrative expenses and cost of goods and services, depending on the functional area of the underlying employees included in the plans, and the non-operating components of pension costs are included within other income, net in the Condensed Consolidated Statements of Earnings.
Qualified Defined Benefits
 Three Months Ended June 30,Six Months Ended June 30,
 U.S. PlanNon-U.S. PlansU.S. PlanNon-U.S. Plans
 20212020202120202021202020212020
Service cost $1,784 $1,706 $1,397 $1,295 $3,567 $3,412 $2,839 $2,588 
Interest cost3,401 4,068 695 796 6,803 8,136 1,363 1,621 
Expected return on plan assets(7,245)(7,869)(1,820)(1,637)(14,490)(15,738)(3,619)(3,314)
Amortization:
Prior service cost (credit)53 57 (162)(120)106 114 (330)(239)
Recognized actuarial loss2,503 1,884 989 735 5,006 3,768 1,989 1,476 
Net periodic expense (income)$496 $(154)$1,099 $1,069 $992 $(308)$2,242 $2,132 

Non-Qualified Supplemental Benefits
Three Months Ended June 30,Six Months Ended June 30,
2021202020212020
Service cost$390 $318 $781 $636 
Interest cost308 442 616 883 
Amortization:
   Prior service cost383 424 766 848 
   Recognized actuarial gain(418)(465)(836)(929)
Net periodic expense$663 $719 $1,327 $1,438 

Defined Contribution Retirement Plans

The Company also offers defined contribution retirement plans which cover the majority of its U.S. employees, as well as employees in certain other countries. The related expense is recognized within selling, general and administrative expenses and cost of goods and services, depending on the functional area of the underlying employees included in the plans. The Company’s expense relating to defined contribution plans was $16,052 and $12,493 for the three months ended June 30, 2021 and 2020, respectively, and $31,113 and $26,541 for the six months ended June 30, 2021 and 2020, respectively.